Battery management system

ABSTRACT

Systems, methods, and devices of managing a battery assembly used to power an object are provided to discharge a battery assembly for a safe and long-term storage. A controlled self-discharge of the battery assembly may be initiated when the power to the object is turned off for a certain length of time or the battery assembly is not in use for a threshold length of time. The controlled self-discharge may be terminated if the battery assembly reaches a threshold voltage value or the battery is in use again during the self-discharge.

CROSS-REFERENCE

This application is a continuation of International Application No.PCT/CN2014/094106, filed on Dec. 17, 2014. The above-referencedapplication is hereby incorporated by reference.

BACKGROUND

Battery assemblies may be used to provide power to stationary or movableobjects such as ground vehicles, air vehicles, surface vehicles,underwater vehicles, and spacecraft. The battery assembly for movableobjects, such as an unmanned aerial vehicle (UAV) for example, may havehigher power, larger discharge rate, shorter service time and strictersecurity standard compared to conventional batteries.

However, the battery assembly may be damaged if it is not maintainedproperly. In some instances, the battery assembly may have a shorterbattery life or even swell or leak if it is charged but left unused fora long term.

SUMMARY

The present disclosure provides systems, methods, and devices formanaging a battery assembly used to power an object such, as an unmannedaerial vehicle (UAV). In some instances, a battery assembly may becharged but then left unused for a long term. In this case, since achemical activity of the charged battery assembly is high, the batteryassembly may swell or leak and thus become hazardous to users and theenvironment. Accordingly, in order to properly maintain the batteryassembly and extend the battery life, a need exists for batterymanagement systems that control the storage voltage of the batteryassembly. In some embodiments, the present disclosure provides systems,methods, and devices of controllably discharging a battery assembly fora long-term storage. The battery assembly of an object may be managed bya battery management system which detects when the power to the objectis turned off, and detects an amount of time elapsed since the power tothe object is turned off. When the amount of time exceeds a thresholdlength of time, the battery management system may initiate a controlledself-discharge of the battery assembly until a voltage of the batteryassembly reaches a value which is safe for long-term storage. Thecontrolled self-discharge of the battery assembly may be terminated whenthe power to the object is turned on during the self-discharge.

The present invention also provides systems, methods, and devices ofdischarging a battery assembly for a long-term storage in which acontrolled self-discharge of the battery assembly may be initiated whenthe battery assembly is not in use for a threshold length of time. Thecontrolled self-discharge of the battery assembly may be terminated ifthe battery is in use again or the battery assembly reaches a thresholdvoltage value during the self-discharge.

The controlled self-discharge of the battery assembly of the presentdisclosure may be implemented by electrically coupling aself-discharging circuit to the battery assembly and electricallycoupling a battery management system to the self-discharging circuit.The self-discharging circuit may comprise a self-discharging resistorand a control switch connected in parallel with positive and negativeterminals of the battery assembly. By controlling a storage voltage ofthe battery assembly, the battery assembly may be stored at a safestorage voltage, thus damage to the battery may be avoid during thelong-term storage and a battery life may be extended.

An aspect of the invention may include a method of discharging a batteryassembly used to power at least part of an object, said methodcomprising: detecting when power to the object is turned off; detecting,with aid of a timer, an amount of time elapsed since the power to theobject is turned off; and initiating a controlled self-discharge of thebattery assembly when the amount of time exceeds a threshold length oftime.

In some embodiments, the method may further comprise detecting a voltageof the battery assembly during the controlled self-discharge of thebattery assembly, and terminating the controlled self-discharge of thebattery assembly when the voltage reaches a threshold voltage value. Insome instances, the threshold voltage value may be about 50% a nominalvoltage of the battery assembly. For example, the threshold voltagevalue is about 38V. The threshold voltage may be configured to enablesafe long-term storage of the battery assembly. In some embodiments, themethod may further comprise entering a hibernation mode subsequent toterminating the controlled self-discharge of the battery assembly.

In some embodiments, the method may further comprise detecting when thepower to the object is turned on, and terminating the controlledself-discharge of the battery assembly when the power to the object isturned on. Alternatively, the method may further comprise detecting ifthe battery assembly powers the at least the part of the object, andterminating the controlled self-discharge of the battery assembly if thebattery assembly powers the at least the part of the object.

In some embodiments, the controlled self-discharge of the batteryassembly may be performed by a self-discharging circuit electricallycoupled to the battery assembly. In some instances, the self-dischargingcircuit comprises a self-discharging resistor and a control switchconnected in parallel with positive and negative terminals of thebattery assembly. The controlled self-discharge may be initiated whenthe control switch is switched to a closed state, and may be terminatedwhen the control switch is switched to an open state.

In some embodiments, the battery assembly may comprise a plurality ofbattery cells. Alternatively, the battery assembly may comprise only asingle battery cell. In some embodiments, the object may be a movableobject, such as an unmanned aerial vehicle (UAV). In some instances, thebattery assembly may be onboard the UAV. In some embodiments, thebattery assembly may be used to power a propulsion system of the UAV.The battery assembly may be within a housing of the object.

In some embodiments, the threshold length of time may be at least one toten days. In some instances, the threshold length of time may bepredetermined. Alternatively, the threshold length of time may be setbased on user input.

Aspects of the invention may further include an apparatus fordischarging a battery assembly used to power at least part of an object,said apparatus comprising: a timer configured to: (1) receive a signalwhen the power to the object is turned off and initiate timing inresponse thereto and (2) detect an amount of time elapsed since thepower to the object is turned off; and one or more processorsindividually or collectively configured to: (1) receive a signal fromthe timer indicative of the amount of time elapsed and (2) generate asignal that initiates a controlled self-discharge of the batteryassembly when the amount of time elapsed exceeds a threshold length oftime.

In some embodiments, the one or more processors individually orcollectively may be further configured to receive a signal indicative ofa voltage of the battery assembly during the controlled self-dischargeof the battery assembly, and to generate a signal that terminates thecontrolled self-discharge of the battery assembly when the voltagereaches a threshold voltage value. In some instances, the thresholdvoltage value may be about 50% a nominal voltage of the batteryassembly. For example, the threshold voltage value may be about 38V. Thethreshold voltage is configured to enable safe long-term storage of thebattery assembly. In some embodiments, the one or more processorsindividually or collectively may be further configured to generate asignal that enters the battery assembly into a hibernation modesubsequent to terminating the controlled self-discharge of the batteryassembly.

In some embodiments, the one or more processors individually orcollectively may be further configured to receive a signal indicative ofwhen the power to the object is turned on, and to generate a signal thatterminates the controlled self-discharge of the battery assembly whenthe power to the object is turned on. Alternatively, the one or moreprocessors individually or collectively may be further configured toreceive a signal indicative of the battery assembly powers the at leastthe part of the object, and to generate a signal that terminates thecontrolled self-discharge of the battery assembly if the batteryassembly powers the at least the part of the object.

In some embodiments, the apparatus may further comprise aself-discharging circuit electrically coupled to the battery assembly.In some instances, the self-discharging circuit may comprise aself-discharging resistor and a control switch connected in parallelwith positive and negative terminals of the battery assembly. Thecontrolled self-discharge may be initiated when the control switch isswitched to a closed state, and may be terminated when the controlswitch is switched to an open state.

In some embodiments, the battery assembly may comprise a plurality ofbattery cells. Alternatively, the battery assembly may comprise only asingle battery cell. In some instances, the object may be a movableobject, such as an unmanned aerial vehicle (UAV). In some embodiments,the battery assembly may be onboard the UAV. The battery assembly may beused to power a propulsion system of the UAV. In some instances, thebattery assembly may be within a housing of the object.

In some embodiments, the threshold length of time may be at least one toten days. In some instances, the threshold length of time may bepredetermined. Alternatively, the threshold length of time may be setbased on user input.

Aspects of the invention may further include an unmanned aerial vehicle,comprising a battery assembly and the apparatus as described hereinabove operably coupled to the battery assembly.

A method of discharging a battery assembly may be provided in accordancewith another aspect of the invention. The method may comprise:detecting, with aid of a timer, when the battery assembly is not in usefor a threshold length of time; initiating a controlled self-dischargeof the battery assembly when the battery assembly is not in use for thethreshold length of time; and terminating the controlled self-dischargeof the battery assembly when (1) the battery assembly is in use, or (2)the battery assembly voltage reaches a threshold voltage value.

In some embodiments, the threshold voltage value may be about 50% anominal voltage of the battery assembly. For example, the thresholdvoltage value may be about 38V. The threshold voltage may be configuredto enable safe long-term storage of the battery assembly.

In some embodiments, the method may further comprise entering ahibernation mode subsequent to terminating the controlled self-dischargeof the battery assembly when the battery assembly voltage reaches thethreshold voltage value.

In some embodiments, the controlled self-discharge of the batteryassembly may be performed by a self-discharging circuit electricallycoupled to the battery assembly. In some instances, the self-dischargingcircuit may comprise a self-discharging resistor and a control switchconnected in parallel with positive and negative terminals of thebattery assembly. The controlled self-discharge may be initiated whenthe control switch is switched to a closed state, and may be terminatedwhen the control switch is switched to an open state.

In some embodiments, the battery assembly may comprise a plurality ofbattery cells. Alternative, the battery assembly may comprise only asingle battery cell. In some embodiments, the object may be a movableobject, such as an unmanned aerial vehicle (UAV). In some instances, thebattery assembly may be onboard the UAV. The battery assembly may beused to power a propulsion system of the UAV. In some instances, thebattery assembly may be within a housing of the object.

In some embodiments, the threshold length of time may be at least one toten days. In some instance, the threshold length of time may bepredetermined. Alternatively, the threshold length of time may be setbased on user input.

An apparatus for discharging a battery assembly used to power at leastpart of an object may be provided in accordance with another aspect ofthe invention. The apparatus may comprise: a timer configured to detectan amount of time that the battery assembly is not in use; and one ormore processors individually or collectively configured to: receive asignal from the timer indicative of the amount of time, generate asignal that initiates a controlled self-discharge of the batteryassembly when the amount of time exceeds a threshold length of time, andgenerate a signal that terminates the controlled self-discharge of thebattery assembly when (1) the battery assembly is in use, or (2) thebattery assembly voltage reaches a threshold voltage value.

In some embodiments, the threshold voltage value is about 50% a nominalvoltage of the battery assembly. For example, the threshold voltagevalue may be about 38V. The threshold voltage may be configured toenable safe long-term storage of the battery assembly.

In some embodiments, the one or more processors individually orcollectively may be further configured to generate a signal that entersthe battery assembly into a hibernation mode subsequent to terminatingthe controlled self-discharge of the battery assembly when the batteryassembly voltage reaches the threshold voltage value.

In some embodiments, the apparatus may further comprise aself-discharging circuit electrically coupled to the battery assembly.In some instances, the self-discharging circuit may comprise aself-discharging resistor and a control switch connected in parallelwith positive and negative terminals of the battery assembly. Thecontrolled self-discharge may be initiated when the control switch isswitched to a closed state, and may be terminated when the controlswitch is switched to an open state.

In some embodiments, the battery assembly may comprise a plurality ofbattery cells. Alternatively, the battery assembly may comprise only asingle battery cell. In some embodiments, the object may be a movableobject, such as an unmanned aerial vehicle (UAV). In some instances, thebattery assembly may be onboard the UAV. For example, the batteryassembly is used to power a propulsion system of the UAV. In someinstance, the battery assembly may be within a housing of the object.

In some embodiments, the threshold length of time may be at least one toten days. In some instances, the threshold length of time may bepredetermined. Alternatively, the threshold length of time may be setbased on user input.

Aspects of the invention may further include an unmanned aerial vehicle,comprising a battery assembly and the apparatus as described hereinabove.

An apparatus for managing discharge of a battery assembly may beprovided in accordance with another aspect of the invention. Theapparatus may comprise: the battery assembly comprising one or morebattery cells; a self-discharging circuit electrically coupled to thebattery assembly; and a battery management system configured to controloperation of the self-discharging circuit in order to permit controlledself-discharge of the battery assembly, wherein the battery managementsystem is configured to cause the battery assembly to discharge via theself-discharging circuit when a timer exceeds a threshold length oftime.

In some embodiments, the battery assembly may comprise a positiveterminal and a negative terminal, and wherein the self-dischargingcircuit may comprise a self-discharging resistor and a control switchconnected in parallel with the positive and negative terminals. In someinstances, the battery management system may control operation of thecontrol switch. The controlled self-discharge may occur when the controlswitch is switched to a closed state, and wherein the controlledself-discharge may not occur when the control switch is switched to anopen state.

In some embodiments, the battery management system may cause the batteryassembly to terminate discharging via the self-discharging circuit whena voltage of the battery assembly reaches a threshold voltage value. Insome instances, the threshold voltage value may be about 50% a nominalvoltage of the battery assembly. For example, the threshold voltagevalue may be about 38V. The threshold voltage may be configured toenable safe long-term storage of the battery assembly.

In some embodiments, the battery management system may cause the batteryassembly to terminate discharging via the self-discharging circuit whenan average voltage of the one or more battery cells reaches a thresholdvoltage value. In some instances, the threshold voltage value may beabout 50% a nominal voltage of the battery cell. For example, thethreshold voltage value may be about 3.8V. The threshold voltage may beconfigured to enable safe long-term storage of the battery assembly.

In some embodiments, the battery assembly may be used to power at leasta part of an object. In some instances, the object may be a movableobject, such as an unmanned aerial vehicle (UAV). In some instances, thebattery assembly may be onboard the UAV. The battery assembly may beused to power a propulsion system of the UAV.

In some embodiments, the battery management system may be configured tostart the timer when the battery management system detects that power tothe object is turned off.

In some embodiments, the battery management system may be configured tocause the battery assembly to terminate discharging via theself-discharging circuit when the battery assembly is powering the atleast the part of the object. In some instances, the battery managementsystem may comprise the timer.

In some embodiments, the battery assembly, self-discharging circuit, andbattery management system may be provided within a housing. In someembodiments, the threshold length of time may be at least one to tendays. In some instances, the threshold length of time may bepredetermined. Alternatively, the threshold length of time may be setbased on user input.

A method for managing discharge of a battery assembly may be provided inaccordance with another aspect of the invention. The method maycomprise: providing the apparatus as described herein above; andreceiving, at the battery management system, a signal that causes thetimer to start timing.

In some embodiments, the signal may indicate that the battery assemblyis not in use. In some embodiments, the battery assembly may power atleast a part of an object, and wherein the signal may indicate thatpower to the object is turned off. Alternatively, the battery assemblymay power at least a part of an object, and wherein the signal mayindicate that the battery assembly is not electrically coupled to theobject.

Aspects of the invention may further include an unmanned aerial vehiclecomprising the apparatus as described herein above.

A method for assembling an apparatus for managing discharge of a batteryassembly may be provided in accordance with another aspect of theinvention. The method may comprise: providing the battery assemblycomprising one or more battery cells; electrically coupling aself-discharging circuit to the battery assembly; and electricallycoupling a battery management system to the self-discharging circuit,wherein the battery management system is configured to control operationof the self-discharging circuit in order to permit controlledself-discharge of the battery assembly, and wherein the batterymanagement system is configured to cause the battery assembly todischarge via the self-discharging circuit when a timer exceeds athreshold length of time.

In some embodiments, the battery assembly may comprise a positiveterminal and a negative terminal, and wherein the self-dischargingcircuit may comprise a self-discharging resistor and a control switchconnected in parallel with the positive and negative terminals. In someinstances, the battery management system may control operation of thecontrol switch. For example, the controlled self-discharge may occurwhen the control switch is switched to a closed state, and wherein thecontrolled self-discharge may not occur when the control switch isswitched to an open state. In some embodiments, the battery managementsystem may cause the battery assembly to terminate discharging via theself-discharging circuit when a voltage of the battery assembly reachesa threshold voltage value.

In some embodiments, the threshold voltage value may be about 50% anominal voltage of the battery assembly. For example, the thresholdvoltage value may be about 38V. Alternatively, the battery managementsystem may cause the battery assembly to terminate discharging via theself-discharging circuit when an average voltage of the one or morebattery cells reaches a threshold voltage value. In some instances, thethreshold voltage value may be about 50% a nominal voltage of thebattery cell. For example, the threshold voltage value may be about3.8V. The threshold voltage is configured to enable safe long-termstorage of the battery assembly.

In some embodiments, the battery assembly may be used to power at leasta part of an object. In some instances, the object may be a movableobject, such as an unmanned aerial vehicle (UAV). The battery assemblymay be onboard the UAV. In some instances, the battery assembly may beused to power a propulsion system of the UAV.

In some embodiments, the battery management system may be configured tostart the timer when the battery management system detects that power tothe object is turned off. In some instances, the battery managementsystem may be configured to cause the battery assembly to terminatedischarging via the self-discharging circuit when the battery assemblyis powering the at least the part of the object.

In some embodiments, the battery management system may comprise thetimer. In some instances, the battery assembly, self-dischargingcircuit, and battery management system may be provided within a housing.In some instances, the threshold length of time may be at least one toten days. The threshold length of time may be predetermined.Alternatively, the threshold length of time may be set based on userinput.

A method for discharging a plurality of battery assemblies used to powerat least part of an object may be provided in accordance with anotheraspect of the invention. The method may comprise: identifying, from theplurality of battery assemblies, one or more battery assemblies meetingcertain criteria for self-discharge; and initiating a controlledself-discharge of the one or more battery assemblies meeting certaincriteria for self-discharge.

In some embodiments, the certain criteria for self-discharge may be anamount of time elapsed since power to the object is turned off exceedinga threshold length of time. In some instances, the method may furthercomprise detecting when the power to the object is turned off; anddetecting, with aid of a timer, an amount of time elapsed since thepower to the object is turned off. In some instances, the method mayfurther comprise detecting a voltage of the one or more batteryassemblies during the controlled self-discharge of the one or morebattery assemblies. In some instance, the method may further compriseterminating the controlled self-discharge of the corresponding one ormore battery assemblies when the voltage reaches a threshold voltagevalue.

In some embodiments, the method may further comprise detecting when thepower to the object is turned on. In some instances, the method mayfurther comprise terminating the controlled self-discharge of thebattery assembly when the power to the object is turned on. In someinstances, the method may further comprise detecting if the one or morebattery assemblies power the at least the part of the object. In someinstances, the method may further comprise terminating the controlledself-discharge of the one or more battery assemblies if the batteryassembly power the at least the part of the object.

In alternative embodiments, the certain criteria for self-discharge maybe the one or more battery assemblies being not in use for a thresholdlength of time. In some instances, the method may further comprisedetecting, with aid of a timer, when the one or more battery assembliesare not in use for a threshold length of time. In some instances, themethod may further comprise terminating the controlled self-discharge ofthe one or more battery assemblies when (1) the one or more batteryassemblies are in use, or (2) a voltage of the one or more batteryassemblies reaches a threshold voltage value.

In some instances, the controlled self-discharge of the one or morebattery assemblies may be performed by a self-discharging circuitelectrically respectively coupled to the one or more battery assemblies.In some instances, the self-discharging circuit may comprise aself-discharging resistor and a control switch connected in parallelwith positive and negative terminals of the battery assembly. In someinstances, the controlled self-discharge may be initiated when thecontrol switch is switched to a closed state and is terminated when thecontrol switch is switched to an open state.

In some embodiments, the object may be a movable object. The movableobject may be an unmanned aerial vehicle (UAV), and the plurality ofbattery assemblies may be onboard the UAV. In some instances, theplurality of battery assemblies may be used to power differentcomponents of the UAV.

An apparatus for managing discharge of a plurality of battery assembliesmay be provided in accordance with another aspect of the invention. Theapparatus may comprise: the plurality of battery assemblies eachcomprising one or more battery cells; a self-discharging circuitelectrically coupled to each battery assembly of the plurality; and abattery management system configured to control operation of therespective self-discharging circuit in order to permit controlledself-discharge of each battery assembly of the plurality, wherein thebattery management system is configured to cause one or more batteryassemblies to discharge via the respective self-discharging circuit whenthe one or more battery assemblies meet certain criteria forself-discharge.

In some embodiments, the certain criteria for self-discharge may be anamount of time elapsed since power to the object is turned off exceedinga threshold length of time. Alternatively, the certain criteria forself-discharge may be the one or more battery assemblies being not inuse for a threshold length of time.

In some embodiments, respective self-discharging circuit may eachcomprise a self-discharging resistor and a control switch connected inparallel with the positive and negative terminals. In some instances,the battery management system may control operation of the controlswitch. In some instances, the controlled self-discharge may occur whenthe control switch is switched to a closed state and wherein thecontrolled self-discharge, and may not occur when the control switch isswitched to an open state.

In some embodiments, the battery management system may be configured tocause the one or more batteries assembly to terminate discharging viathe respective self-discharging circuit when a voltage of the one ormore battery assembles reaches a threshold voltage value. In someinstances, the plurality of battery assemblies may be used to power atleast a part of an object. For example, the object may be a movableobject, such as an unmanned aerial vehicle (UAV). In some instances, theplurality battery assemblies may be onboard the UAV. The plurality ofbattery assemblies may be used to power different components of the UAV.

In some embodiments, the battery management system may be configured tocause the one or more battery assemblies to terminate discharging viathe respective self-discharging circuit when the one or more batteryassembly are powering the at least the part of the object. In someinstances, the battery management system may be configured to cause thebattery assembly to terminate discharging via the self-dischargingcircuit when the battery assembly is in use.

Aspects of the invention may further include an unmanned aerial vehiclecomprising the apparatus as described herein above.

It shall be understood that different aspects of the invention can beappreciated individually, collectively, or in combination with eachother. Various aspects of the invention described herein may be appliedto any of the particular applications set forth below or for any othertypes of movable objects. Any description herein of aerial vehicles,such as unmanned aerial vehicles, may apply to and be used for anymovable object, such as any vehicle. Additionally, the systems, devices,and methods disclosed herein in the context of aerial motion (e.g.,flight) may also be applied in the context of other types of motion,such as movement on the ground or on water, underwater motion, or motionin space.

Other objects and features of the present invention will become apparentby a review of the specification, claims, and appended figures.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present invention will be obtained by reference to thefollowing detailed description that sets forth illustrative embodiments,in which the principles of the invention are utilized, and theaccompanying drawings of which:

FIG. 1 is a flow chart illustrating a method of discharging a batteryassembly, in accordance with an embodiment of the invention.

FIG. 2 is a flow chart illustrating a method of discharging a batteryassembly in accordance with a further embodiment of the invention.

FIG. 3 is a flow chart illustrating a method of discharging a batteryassembly in accordance with a yet further embodiment of the invention.

FIG. 4 shows an apparatus for managing discharge of a battery assemblyin accordance with an embodiment of the invention.

FIG. 5 is a flow chart illustrating a method of assembling an apparatusfor managing discharge of a battery assembly in accordance with anembodiment of the invention.

FIG. 6 is a diagram illustrating the voltage change of a batteryassembly in accordance with embodiments of the present invention.

FIG. 7 illustrates an appearance of UAV in accordance with embodimentsof the present invention.

FIG. 8 illustrates a movable object including a carrier and a payload,in accordance with embodiments of the present invention.

FIG. 9 is a schematic illustration by way of block diagram of a systemfor controlling a movable object, in accordance with embodiments of thepresent invention.

DETAILED DESCRIPTION

The systems, methods, and devices described herein provide an effectiveapproach for reducing or preventing damage to a battery assembly duringlong-term storage. When a battery assembly is charged but then leftunused for a long term, the battery life may be shortened due to damageto the battery, e.g., the battery may swell or leak because chemicalactivity of the charged battery assembly is high. In order to preventsuch situations from occurring, the battery assembly may be managed by abattery management system which may monitor and control a storagevoltage of the battery assembly. In some embodiments, the batteryassembly is used to power an object, e.g., a movable object such as anunmanned aerial vehicle (UAV). The battery management system may detectwhen the power to the object is turned off, and detect an amount of timeelapsed since the power to the object is turned off. When the amount oftime exceeds a threshold length of time, the battery management systemmay initiate a controlled self-discharge of the battery assembly untilthe voltage of the battery assembly reaches a value which is safe forlong-term storage. In some embodiments, the controlled self-discharge ofthe battery assembly may be terminated if the power to the object isturned on during the self-discharge.

In some embodiments, the systems, methods, and devices of the presentdisclosure may initiate a controlled self-discharge of the batteryassembly when the battery assembly is not in use for a threshold lengthof time. The controlled self-discharge of the battery assembly may beterminated if the battery is in use again or the battery assemblyreaches a threshold voltage value during the self-discharge.

In the systems, methods, and devices described herein, theself-discharge of the battery assembly may be implemented by aself-discharging circuit which is electrically coupled to the batteryassembly. The self-discharging circuit may comprise a self-dischargingresistor and a control switch connected in parallel with positive andnegative terminals of the battery assembly. The controlledself-discharge may be initiated when the control switch is switched to aclosed state (e.g., the switch is “on”) and may be terminated when thecontrol switch is switched to an open state (e.g., the switch is “off”).

Advantageously, the systems, methods, and devices provided herein enableautomatic controlled self-discharge of a battery assembly duringlong-term storage, thereby improving the lifespan, safety, and ease ofuse of such battery assemblies.

The battery assemblies of the present disclosure can be adapted toprovide power to at an object, which may be a movable object or astationary object. A movable object may be capable of self-propelledmovement (e.g., a vehicle), while a stationary object may not be capableof self-propelled movement. The battery assembly can power at least apart of an object, such as one or more electrical components of theobject. Examples of electrical components that can be powered by abattery assembly include but are not limited to propulsion systems(e.g., rotors, wheels), sensors (e.g., GPS sensors, inertial sensors,cameras, ultrasonic sensors, infrared sensors, lidar, radar), controlsystems, communication systems (e.g., receivers, transmitters,transceivers, user interfaces), payloads, and so on.

In some embodiments, the movable object may be an unmanned aerialvehicle (UAV). The UAV may have one or more propulsion units that maypermit the UAV to move about in the air. The UAV may be a rotorcraft. Insome instances, the UAV may be a multi-rotor craft that may include aplurality of rotors. The plurality of rotors may be capable of rotatingto generate lift for the UAV, enabling the UAV to move about freelythrough the air (e.g., with up to three degrees of freedom intranslation and/or up to three degrees of freedom in rotation). In someembodiments, the battery assembly may be onboard the UAV. The batteryassembly may be used to power a propulsion system of the UAV, forexample, a rotor of the UAV. Alternatively, the battery assembly may beused to power other electrical components on board the UAV, includingbut not limited to, control systems (e.g., flight controller), sensors,communication system, payload (e.g., camera, gimbal), etc. Additionalexamples of movable objects suitable for use with the embodiments of thepresent disclosure are provided in further detail below.

An object can be powered by any suitable number and combination ofbattery assemblies. In some embodiments, the object includes only asingle battery assembly. In other embodiments, the object includes aplurality of battery assemblies, such as two, three, four, five, or morebattery assemblies. The battery assemblies can be arranged on the objectas desired. For example, a battery assembly can be situated within theinterior of object (e.g., within an internal cavity of the object and/orattached to an internal surface of the object) or on the exterior of theobject (e.g., on an external surface of the object, such as on a top,bottom, front, back, or side surface). In some embodiments, the batteryassembly may be provided within a housing of the object. Alternatively,the battery assembly may be provided outside a housing of the object.

The battery assemblies of the present disclosure can be electricallycoupled to at least a part of the object, e.g., via electricalconnectors such as wires, cables, pins, contacts, and the like. In someembodiments, the battery assembly is removably coupled to the object,such that the battery can be removed from the object, e.g., forcharging, replacement, etc. In alternative embodiments, the batteryassembly is permanently affixed to the object and cannot be removed fromthe object.

In some embodiments, the battery assembly may comprise a plurality ofbattery cells. The plurality of battery cells may be electricallyconnected in series or in parallel. Alternatively, the battery assemblymay comprise only a single battery cell. The battery cell(s) of abattery assembly can be contained within a housing of the batteryassembly, such that the battery assembly is provided as a single unitarydevice, thereby facilitating handling of the battery assembly.

The battery assembly may be any type of suitable battery assembly whichis adapted to be mounted on or within the object in order to supplypower to one or more electrical components of the object. In someembodiments, the battery assembly is a non-rechargeable battery orprimary battery. In other embodiments, the battery assembly may be arechargeable battery or secondary battery. Examples of battery assemblytypes suitable for use with the embodiments described herein include butare not limited to: lead-acid batteries, alkaline batteries, nickel-ironbatteries, nickel-cadmium batteries, nickel-hydrogen batteries,nickel-metal hydride batteries, nickel-zinc batteries, lithium-air(organic) batteries, lithium cobalt oxide batteries, lithium-ion polymerbatteries, lithium iron phosphate batteries, lithium sulfur batteries,lithium-titanate batteries, sodium-ion batteries, thin film lithiumbatteries, zinc-bromide batteries, zinc-cerium batteries, vanadium redoxbatteries, sodium-sulfur batteries, molten salt batteries, silver-oxidebatteries, or quantum batteries (oxide semiconductor). In someembodiments, the battery assembly may be lithium cobalt oxide batteries.

The battery assembly may provide a voltage to one or more electricalcomponents onboard the object, also referred to herein as an “outputvoltage.” In some instances, the battery assembly may provide an outputvoltage greater than or equal to about 0.01 V, 0.05 V, 0.1 V, 0.5 V, 1.0V, 1.5 V, 2.0 V, 2.5 V, 3.0 V, 3.5 V, 4.0 V, 4.5 V, 5.0 V, 5.5 V, 6.0 V,6.5 V, 7.0 V, 7.5 V, 8.0 V, 8.5 V, 9.0 V, 9.5 V, 10 V, 15 V, 20 V, 25 V,30 V, 35 V, 40 V, 45 V, 50 V, 55 V, 60 V, 65 V, 70 V, 75 V, 80 V, 85 V,90 V, 95 V, or 100 V. Optionally, the output voltage of the batteryassembly may be less than or equal to any of the values describedherein. In some embodiments, the maximum output voltage of the batteryassembly is about 0.01 V, 0.05 V, 0.1 V, 0.5 V, 1.0 V, 1.5 V, 2.0 V, 2.5V, 3.0 V, 3.5 V, 4.0 V, 4.5 V, 5.0 V, 5.5 V, 6.0 V, 6.5 V, 7.0 V, 7.5 V,8.0 V, 8.5 V, 9.0 V, 9.5 V, 10 V, 15 V, 20 V, 25 V, 30 V, 35 V, 40 V, 45V, 50 V, 55 V, 60 V, 65 V, 70 V, 75 V, 80 V, 85 V, 90 V, 95 V, or 100 V.In some embodiments, the minimum output voltage of the battery assemblyis about 0.01 V, 0.05 V, 0.1 V, 0.5 V, 1.0 V, 1.5 V, 2.0 V, 2.5 V, 3.0V, 3.5 V, 4.0 V, 4.5 V, 5.0 V, 5.5 V, 6.0 V, 6.5 V, 7.0 V, 7.5 V, 8.0 V,8.5 V, 9.0 V, 9.5 V, 10 V, 12 V, 14 V, 16 V, 18 V, 20 V, 22 V, 24 V, 26V, 28 V, 30 V, 35 V, 40 V, 45 V, 50 V, 55 V, 60 V, 65 V, 70 V, 75 V, 80V, 85 V, 90 V, 95 V, or 100 V. The maximum and/or minimum outputvoltages of the battery assembly may fall within a range between any twoof the values described herein. In some embodiments, the output voltageof the battery assembly may be 12.6 V, 17.4 V, 25.2 V, or 26.1 V

The amount of electric charge a battery assembly can deliver at a ratedvoltage may be referred to herein as the battery assembly's “capacity”.The battery assembly may have a capacity greater than or equal to about10 mAh, 50 mAh, 100 mAh, 200 mAh, 400 mAh, 600 mAh, 800 mAh, 1,000 mAh,1,200 mAh, 1,400 mAh, 1,600 mAh, 1,800 mAh, 2,000 mAh, 2,200 mAh, 2,400mAh, 2,600 mAh, 2,800 mAh, 3,000 mAh, 3,500 mAh, 4,000 mAh, 4,500 mAh,5,000 mAh, 6,000 mAh, 7,000 mAh, 8,000 mAh, 9,000 mAh, 10,000 mAh, or20,000 mAh. Optionally, the capacity of the battery assembly may be lessthan or equal to any of the values described herein. The capacity of thebattery assembly may fall within a range between any two of the valuesdescribed herein. In some embodiments, the capacity of the batteryassembly may be 4480 mAh, 4500 mAh, 5200 mAh, or 5700 mAh.

A rechargeable battery assembly can be charged and discharged for anumber of times. The number of discharge-charge cycles the battery canexperience before it fails to meet specific performance may be referredto herein as the battery assembly's “number of charge cycles”. Thebattery assembly may have a number of charge cycles greater than orequal to about 5, 10, 50, 100, 150, 200, 250, 300, 350, 400, 450, 500,600, 700, 800, 900, 1,000, 1,200, 1,400, 1,600, 1,800, 2,000, 2,200,2,400, 2,600, 2,800, 3,000, 3,400, 3,800, 4,000, 4,500, 5,000, 6,000,7,000, 8,000, 10,000, 20,000, 30,000, 40,000, 50,000, 60,000, 70,000,80,000, 90,000, or 100,000. Optionally, the charge cycles of the batteryassembly may be less than or equal to any of the values describedherein. The charge cycles of the battery assembly may fall within arange between any two of the values described herein. In someembodiments, the number of charge cycles of the battery assembly may be200.

A lifetime of a battery assembly indicates how long a device can work onone complete charge of a rechargeable battery assembly. The batteryassembly may have a lifetime greater than or equal to 1 s, 20 s, 40 s, 1min, 5 min, 10 min, 15 min, 20 min, 25 min, 30 min, 35 min, 40 min, 45min, 50 min, 55 min, 1.0 h, 1.2 h, 1.4 h, 1.6 h, 1.8 h, 2.0 h, 2.5 h,3.0 h, 3.5 h, 4.0 h, 4.5 h, 5.0 h, 5.5 h, 6.0 h, 6.5 h, 7.0 h, 8 h, 9 h,or 10 h. Optionally, the lifetime of the battery assembly may be lessthan or equal to any of the values described herein. The lifetime of thebattery assembly may fall within a range between any two of the valuesdescribed herein. In some embodiments, the lifetime of the batteryassembly may be 20 min.

A discharge rate of the battery assembly indicates how many hours thebattery assembly may discharge before reaching a cut-off voltage, atcertain current. The battery assembly may have a discharge rate greaterthan or equal to about 0.1 h, 0.2 h, 0.4 h, 0.6 h, 0.8 h, 1.0 h, 1.5 h,2.0 h, 2.5 h, 3.0 h, 3.5 h, 4.0 h, 4.5 h, 5.0 h, 5.5 h, 6.0 h, 6.5 h,7.0 h, 7.5 h, 8.0 h, 8.5 h, 9.0 h, 9.5 h, 10.0 h, 10.5 h, 11.0 h, 11.5h, 12.0 h, 12.5 h, 13.0 h, 13.5 h, 14.0 h, 14.5 h, 15.0 h, 15.5 h, 16.0h, 16.5 h, 17.0 h, 17.5 h, 18.0 h, 18.5 h, 19.0 h, 19.5 h, 20.0 h, 20.5h, 21.0 h, 21.5 h, 22.0 h, 22.5 h, 23.0 h, 23.5 h, 24.0 h, 24.5 h, 25.0h, 30.0 h, 35.0 h, or 40.0 h, at a current of 15 A. Optionally, thedischarge rate of the battery assembly may be less than or equal to anyof the values described herein. In some embodiments, the batteryassembly has a maximum discharge rate equal to about 0.1 h, 0.2 h, 0.4h, 0.6 h, 0.8 h, 1.0 h, 1.5 h, 2.0 h, 2.5 h, 3.0 h, 3.5 h, 4.0 h, 4.5 h,5.0 h, 5.5 h, 6.0 h, 6.5 h, 7.0 h, 7.5 h, 8.0 h, 8.5 h, 9.0 h, 9.5 h,10.0 h, 10.5 h, 11.0 h, 11.5 h, 12.0 h, 12.5 h, 13.0 h, 13.5 h, 14.0 h,14.5 h, 15.0 h, 15.5 h, 16.0 h, 16.5 h, 17.0 h, 17.5 h, 18.0 h, 18.5 h,19.0 h, 19.5 h, 20.0 h, 20.5 h, 21.0 h, 21.5 h, 22.0 h, 22.5 h, 23.0 h,23.5 h, 24.0 h, 24.5 h, 25.0 h, 30.0 h, 35.0 h, or 40.0 h, at a currentof 15 A. In some embodiments, the battery assembly has a minimumdischarge rate equal to about 0.1 h, 0.2 h, 0.4 h, 0.6 h, 0.8 h, 1.0 h,1.5 h, 2.0 h, 2.5 h, 3.0 h, 3.5 h, 4.0 h, 4.5 h, 5.0 h, 5.5 h, 6.0 h,6.5 h, 7.0 h, 7.5 h, 8.0 h, 8.5 h, 9.0 h, 9.5 h, 10.0 h, 10.5 h, 11.0 h,11.5 h, 12.0 h, 12.5 h, 13.0 h, 13.5 h, 14.0 h, 14.5 h, 15.0 h, 15.5 h,16.0 h, 16.5 h, 17.0 h, 17.5 h, 18.0 h, 18.5 h, 19.0 h, 19.5 h, 20.0 h,20.5 h, 21.0 h, 21.5 h, 22.0 h, 22.5 h, 23.0 h, 23.5 h, 24.0 h, 24.5 h,25.0 h, 30.0 h, 35.0 h, or 40.0 h. The battery assembly may have amaximum and/or minimum discharge rate falling within a range between anytwo of the values described herein. In some embodiments, the dischargerate of the battery assembly is 20 min at a current of 15 A.

As previously described herein, in some embodiments, when a batteryassembly is stored for extended periods of time at a partially or fullycharged state, damage to the battery may occur, e.g., due to thechemistry of the battery cell(s). The damage may occur if the battery isstored for a time period greater than or equal to about 1 h, 2 h, 5 h,10 h, 15 h, 20 h, 1 day, 2 days, 5 days, 10 days, 20 days, 50 days, 100days, 200 days, 1 year, or 5 years. In some embodiments, damage mayoccur if the battery assembly is stored at greater than or equal toabout 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, or 100% of themaximum charge level of the battery assembly.

Accordingly, in order to avoid damage to the battery assembly, someembodiments of the present disclosure provide methods of monitoring thestatus of one or more battery assemblies and assessing whether the oneor more battery assemblies should be discharged, e.g., due to beingunused for an extended period of time. The methods presented herein canbe performed entirely automatically, such that no user input is neededto initiate the self-discharge process.

An uncontrolled self-discharge may be a natural phenomenon occur inbatteries or battery assemblies in which internal chemical reactionsreduce the stored charge of the battery or battery assembly without anyconnection between the electrodes. The speed of uncontrolledself-discharge may depend on the type of battery, state of charge,charging current, ambient temperature and other factors. Amongrechargeable batteries, Li-ion may absorb the least amount ofself-discharge of around 2-3% discharge per month, then lead-acid at4-6%. However, a controlled self-discharge may be a discharge tobatteries or battery assemblies intentionally performed by the user,such that a voltage of the batteries or battery assemblies may drop to asafe value. The purpose of performing controlled self-discharge may bereducing or preventing a damaged to the batteries or battery assemblieswhich may otherwise occur due to a high chemical activity inside thebatteries or battery assemblies.

The controlled self-discharge to the battery or battery assembly may beperformed by the battery or battery assembly itself. For example, aself-discharging circuit and a battery management system may be part ofthe battery or battery assembly. The determination on if aself-discharge is to be initiated or terminated may be made by thebattery management system, and the self-discharge may be performed bythe self-discharging circuit. Alternatively, the controlledself-discharge to the battery or battery assembly may be performed bythe object, such as a UAV, which the battery or battery assembly powers.For example, the determination on if a self-discharge is to be initiatedor terminated may be made by components onboard the object.

FIG. 1 is a flow chart illustrating a method 100 of discharging abattery assembly in accordance with an embodiment of the invention. Themethod 100 may be used to discharge a battery assembly of an object, forexample a movable object such as an UAV. Some or all of the steps of themethod 100 can be performed by one or more processors operably coupledto the battery assembly.

In step 102 of the method 100, when the power to the object is turnedoff is detected. The turning off of the power may be detected byreceiving a signal from the main switch of the object, indicating that apower to the object is turned off. Alternatively, the turning off thepower may be detected by determining that substantially no electriccurrent is flowing from the battery assembly to components of theobject.

In step 104, an amount of time elapsed since the power to the object isturned off is detected. In some embodiments, the time elapsed may bemeasured by a timer, which is triggered by detecting the power to theobject is turned off in step 102. For example, upon detecting that thepower to the object is turned off, one or more processors can generateand transmit a signal to the timer to initiate the timing process.

In step 106, the amount of time elapsed since the power to the object isturned off is compared with a threshold length of time to determine ifthe amount of time exceeds a threshold length of time. In someembodiments, this determination may be made by comparing a value of thetimer by the time length threshold.

In some instances, the threshold length of time may be set based on userinput. For instance, the user may determine and input a threshold lengthof time, e.g., by considering the battery type, battery capacity, and/orbattery storage time, etc. Alternatively, the threshold length of timemay be predetermined, e.g., stored in a memory associated with the oneor more processors. For instance, the predetermined time lengththreshold may be less than or equal to about: 1 s, 10 s, 30 s, 1 min, 10min, 20 min, 30 min, 40 min, 50 min, 1 h, 2 h, 5 h, 10 h, 15 h, 20 h, 1day, 2 days, 3 days, 4 days, 5 days, 6 days, 7 days, 8 days, 9 days, 10days, 11 days 12 days, 13 days, 14 days or 15 days. The predeterminedtime length threshold may have a value greater than or equal to any ofthe values described herein. The predetermined time length threshold mayhave a value falling within a range between any two of the valuesdescribed herein. Optionally, the threshold length of time may beautomatically determined by one or more processors, for example byreading battery information such as battery type, battery capacity,battery voltage, etc. In some instance, the threshold length of time maybe about 1 to 10 days.

If the determination in step 106 shows that the amount of time does notexceed the threshold length of time, then the method process goes backto step 104. In some embodiments, the method may perform the checking ofstep 106 at a frequency of every 1 s, 10 s, 30 s, 1 min, 15 min, 30 min,45 min, 1 h, 2 h, 5 h, 10 h, 15 h, 20 h, 1 day, 2 days, 3 days, 4 days,or 5 days. The frequency to check the step 106 may have a value greaterthan or equal to any of the values described herein. The frequency tocheck the step 106 may have a value falling within a range between anytwo of the values described herein. In some instance, the method mayperform the checking of step 106 every 1 hour.

If the determination in step 106 shows that the amount of time exceedsthe threshold length of time, then in step 108, a controlledself-discharge of the battery assembly may be initiated. In someembodiments, the controlled self-discharge may be implemented by aself-discharging circuit which is electrically coupled to the batteryassembly. Examples of self-discharging circuits are provided in furtherdetail herein.

Optionally, the method of discharging a battery assembly in accordancewith the embodiment of FIG. 1 may further include a step subsequent tostep 108 in which when the power to the object is turned on may bedetected. For example, the power to the object may be detected as beingturned on during the controlled self-discharging, if the user switchesthe system switch on again. When the power to the object is turned on,the method of discharging a battery assembly in accordance with theembodiment of FIG. 1 may further include a step of terminating thecontrolled self-discharge of the battery assembly.

Alternatively, the method of discharging a battery assembly inaccordance with the embodiment of FIG. 1 may further include a stepsubsequent to step 108 in which if the battery assembly powers at leasta part of the object may be detected. For example, a current flowingfrom the battery assembly to components to be powered may be detectedduring the controlled self-discharging, if the user switches the systemswitch on again. When the battery assembly powers at least a part of theobject, e.g., a current flows from the battery assembly, the method ofdischarging a battery assembly in accordance with the embodiment of FIG.1 may further include a step of terminating the controlledself-discharge of the battery assembly

FIG. 2 is a flow chart illustrating a method 200 of discharging abattery assembly in accordance with a further embodiment of theinvention. The method 200 may be used to discharge a battery assembly ofan object, for example a movable object including UAV. Some or all ofthe steps of the method 200 can be performed by one or more processorsoperably coupled to the battery assembly.

The steps 202 to 208 may be substantially identical to steps 102 to 108as discussed above reference to FIG. 1. For example, in step 202, whenpower to the object is turned off is detected; in step 204, an amount oftime elapsed since the power to the object is turned off is detected;and if the determination in step 206 shows that the amount of timeexceeds a threshold length of time, then in step 208, a controlledself-discharge of the battery assembly is initiated.

The method of discharging a battery assembly in accordance with theembodiment of FIG. 2 may further comprise a step 210, in which a voltageof the battery assembly is detected during the controlledself-discharge. In step 212, a determination is made on whether thevoltage of the battery assembly has reached a threshold voltage value bycomparing the voltage of the battery assembly with the threshold voltagevalue.

The threshold voltage value may be an appropriate voltage value underwhich the battery assembly may be safely stored in a long term. Forexample, the battery assembly may not swell or leak and the lifetime ofthe battery assembly may not be shortened, even if it is stored underthe threshold voltage value for a long-term storage period. In someinstances, the long-term storage period for the battery assembly storagemay be greater than or equal to about 1 min, 10 min, 20 min, 30 min, 40min, 50 min, 1 h, 5 h, 10 h, 15 h, 20 h, 1 day, 5 days, 10 days, 15days, 1 month, 2 months, 4 months, 6 months, 8 months, 10 months, 1year, 2 years, 4 years, 6 years, 8 years, or 10 years. Optionally, thelong-term storage period may be less than or equal to any of the valuesdescribed herein. The long-term storage period may have a value fallingwithin a range between any two of the values described herein.

In some instances, the threshold voltage value may be a voltage lessthan or equal to about 0.01 V, 0.02 V, 0.04 V, 0.06 V, 0.08 V, 0.1 V,0.2 V, 0.4 V, 0.6 V, 0.8 V, 1.0 V, 1.2 V, 1.4 V, 1.6 V, 1.8 V, 2.0 V,2.2 V, 2.4 V, 2.6 V, 2.8 V, 3.0 V, 3.2 V, 3.4 V, 3.6 V, 3.8 V, 4.0 V,4.2 V, 4.4 V, 4.6 V, 4.8 V, 5.0 V, 5.5 V, 6.0V, 6.5 V, 7.0 V, 7.5 V, 8.0V, 8.5 V, 9.0 V, 9.5 V, 10 V, 15 V, 20 V, 25 V, 30 V, 40 V, 50 V, or 60V. Optionally, the threshold voltage value may be greater than or equalto any of the values described herein. The threshold voltage value mayhave a value falling within a range between any two of the valuesdescribed herein. In some embodiments, the threshold voltage value maybe about 50% of the nominal voltage of the battery assembly. Forinstances, the threshold voltage value may be about 38 V for a 10-cellbattery assembly, each cell having a nominal voltage of 7.6 V. The term“nominal voltage” may be referred herein to indicate the reported orreference voltage of the cell or battery.

In alternative embodiments, detecting a voltage of the battery assemblyduring the controlled self-discharge of the battery assembly in step 210may comprising detecting an average voltage of the plurality of batterycells of the battery assembly. For example, the battery assembly may becomposed of 10 cells each having a nominal voltage of 7.6 V. Detecting avoltage of the battery assembly in step 210 may then comprise detectingan average voltage of the 10 cells. In this example, the thresholdvoltage value may be set to about 50% a nominal voltage of one cell,that is, 3.8 V.

If the voltage of the battery assembly during the controlledself-discharge is determined to have not reached the threshold voltagevalue in step 212, then the method process goes back to step 210. Insome embodiments, the method may perform the checking of step 212 at afrequency of every 0.1 s, 0.5 s, 1 s, 5 s, 10 s, 20 s, 30 s, 40 s, 50 s,1 min, 5 min, 10 min, 20 min, 30 min, or 1 h. The frequency to check thestep 212 may have a value greater than or equal to any of the valuesdescribed herein. The frequency to check the step 212 may have a valuefalling within a range between any two of the values described herein.In some instance, the method may perform the checking of step 212 every30 s.

If the voltage of the battery assembly during the controlledself-discharge is determined to have reached the threshold voltage valuein step 212, then in step 214, the controlled self-discharge of thebattery assembly is terminated. Optionally, the method of discharging abattery assembly in accordance with the embodiment of FIG. 2 may furthercomprise a step 216 subsequent to step 214, in which the batteryassembly enters a hibernation mode. The hibernation mode may be a lowpower consumption mode in which the battery assembly providessubstantially no current to the electrical components of the object, butsimply monitors whether the battery assembly is in use again, e.g., if apower button of the object is pressed, if the power to the object isturned on, and/or if the battery assembly is charged. In some instances,if the power to the object is turned on during the hibernation mode, thebattery assembly may exit the hibernation mode and become activatedagain.

FIG. 3 is a flow chart illustrating such a method 300 of discharging abattery assembly in accordance with a yet further embodiment of theinvention. The method 300 may be used to discharge a battery assembly ofan object, for example a movable object including UAV. The method 300may particularly be used in a system having a plurality of batteryassemblies which may be independently turned on and off. Some or all ofthe steps of the method 300 can be performed by one or more processorsoperably coupled to the battery assembly.

In step 302, when the battery assembly is not in use for a thresholdlength of time is determined, with aid of timer. The battery assemblycan be considered to not be in use when it is no longer providing powerto the object, e.g., is electrically uncoupled from the object. In someembodiments, the not in use state of the battery assembly may bedetermined by detecting where there is current flowing from the batteryassembly to one or more components of the object. For instance, ifsubstantially no current is flowing from the battery assembly, thebattery assembly may be determined as being not in use. In someembodiments, a timer may be used to determine if the battery assemblyhas not been in use for a threshold length of time. The timing of thetimer may be initiated (e.g., by one or more processors) in response tothe detection that the battery assembly is not in use. For instance, thetimer may be triggered to start timing upon detecting that substantiallyno current is flowing from the battery assembly.

In some instances, the threshold length of time may be set based on userinput. For instance, the user may determine and input a threshold lengthof time, e.g., by considering the battery type, battery capacity, and/orbattery storage time, etc. Alternatively, the threshold length of timemay be predetermined, e.g., stored in a memory associated with the oneor more processors. For instance, the predetermined time lengththreshold may be less than or equal to about: 1 s, 10 s, 30 s, 1 min, 10min, 20 min, 30 min, 40 min, 50 min, 1 h, 2 h, 5 h, 10 h, 15 h, 20 h, 1day, 2 days, 3 days, 4 days, 5 days, 6 days, 7 days, 8 days, 9 days, 10days, 11 days 12 days, 13 days, 14 days or 15 days. The predeterminedtime length threshold may have a value greater than or equal to any ofthe values described herein. The predetermined time length threshold mayhave a value falling within a range between any two of the valuesdescribed herein. In some instance, the threshold length of time may beabout 1 to 10 days. Optionally, the threshold length of time may beautomatically determined by one or more processors, by readinginformation such as battery type, battery capacity, battery voltage outfrom the battery assembly.

If the battery assembly is detected as being not in use for thethreshold length of time, then the method may proceed to step 304, inwhich a controlled self-discharge of the battery assembly is initiated.In some embodiments, the controlled self-discharge may be implemented bya self-discharging circuit which is electrically coupled to the batteryassembly, as described in further detail herein.

During the self-discharge of the battery assembly, the method 300 maydetermine if certain criteria is met for terminating the self-discharge.The criteria under which the self-discharge of the battery assembly isterminated may include, for example, the battery assembly being in useagain and/or the battery assembly voltage has reached a thresholdvoltage value. In some embodiments, the method 300 may determine if thebattery assembly is in use again in step 306, and simultaneously orsequentially, the method 300 may determine if the battery assemblyvoltage has reached a threshold voltage value in step 308.

In step 306, it is determined if the battery assembly is in use againduring the controlled self-discharge. In some embodiments, thedetermination on if the battery assembly is in use again may be made bydetecting if the battery assembly is providing power to the object,e.g., when a current flows from the battery assembly to one or morecomponents of the object. For example, if a current flowing from thebattery assembly is detected during the controlled self-discharge, thenthe method may proceed to step 310.

In step 308, it is determined if the battery assembly voltage hasreached a threshold voltage value. The determination in step 308 issubstantially similar to that of step 212. The threshold voltage valuemay be an appropriate voltage value under which the battery assembly maybe safely stored in a long term. In some embodiments, the thresholdvoltage value may be about 50% a nominal voltage of the batteryassembly, and the voltage of the battery assembly may be compared withthe threshold voltage value. For instances, the threshold voltage valuemay be about 38 V for a 10-cell battery assembly, each cell having anominal voltage of 7.6 V. In alternative embodiments, the thresholdvoltage value may be set to about 50% of the nominal voltage of onecell, and an average voltage of the cells may be compared with thethreshold voltage value. For instance, the threshold voltage value maybe 3.8 V for a 10-cell battery assembly, each cell having a nominalvoltage of 7.6 V. If the voltage of the battery assembly is detected asreaching the threshold voltage value in step 308, then the method mayproceed to step 310.

In step 310, the controlled self-discharge of the battery assembly isterminated. In some embodiments, if the controlled self-discharge of thebattery assembly is terminated because the battery assembly is in useagain (for example, the user is operating the UAV again), the batteryassembly may resume supplying power to the object or one or morecomponents thereof. Otherwise, if the controlled self-discharge of thebattery assembly is terminated because the voltage of the batteryassembly reaches the threshold voltage value, then the method mayoptionally further comprise a step subsequent to step 310, in which thebattery assembly enters a hibernation mode, as disclosed herein above.

The battery assembly monitoring and self-discharging methods describedherein can be implemented using various types of systems and devices. Insome embodiments, a battery management system is used to detect acurrent operational status of the battery assembly and/or an objectpowered by the battery assembly (e.g., whether the battery assembly isin use, whether the object is turned off), and initiate and/or terminatecontrolled self-discharge of the battery assembly if appropriate. Thebattery management system can be coupled to one or more batteryassemblies, e.g., via suitable electrical couplings. Additionally, thebattery management system can be coupled to a self-discharging circuitthat permits controlled self-discharge of the one or more batteryassemblies. In some embodiments, the one or more battery assemblies, thebattery management system, and the self-discharging circuit are providedwithin a single unitary housing, such that these components can beprovided as a single unit, e.g., a unit that can be removed from theobject. In alternative embodiments, the battery management system and/orself-discharging circuit are provided separately from the batteryassembly and coupled to the battery assembly during use. For example,the battery management system and/or self-discharging circuit can beprovided as part of the object.

FIG. 4 shows an example of apparatus 400 for managing discharge of abattery assembly in accordance with an embodiment of the invention. Abattery management system 404 may be provided for the battery assembly402. The battery management system 404 may be electrically connected toeach battery cell of the battery assembly 402 such that the discharge ofeach battery cell may be controlled independently. In alternativeembodiments, the discharge of each cell may be linked, such that theindividual cells are not capable of being discharged independently. Thebattery management system 404 may be configured to control an operationof a self-discharging circuit 406 which is electrically coupled to thebattery assembly 402. The self-discharging circuit 406 may comprise aself-discharging resistor 4062 and a control switch 4064 which areconnected in parallel with positive and negative terminals of thebattery assembly 402. The self-discharging resistor 4062 can beconnected in series with the control switch 4064. For instance, thevalue of the self-discharging resistor may be less than or equal toabout: 1 Ω, 5 Ω, 10 Ω, 50 Ω, 100 Ω, 150 Ω, 200 Ω, 250 Ω, 300 Ω, 350 Ω,400 Ω, 450 Ω, 500 Ω, 550 Ω, 600 Ω, 650 Ω or 700Ω. The value of theself-discharging resistor may have a value greater than or equal to anyof the values described herein. The value of the self-dischargingresistor may have a value falling within a range between any two of thevalues described herein. In some embodiments, a value of theself-discharging resistor may be less than or equal to about: 200Ω or500Ω.

In some embodiments, the battery management system 404 may control theoperation of the self-discharging circuit 406 by controlling an on/offstate of the control switch 4064. In some embodiments, the controlledself-discharge of the battery assembly 402 may be initiated when thecontrol switch 4064 is switched to a closed state (e.g., the switch is“on”), and may be terminated when the control switch 4064 is switched toan open state (e.g., the switch is “off”). In some instances, theswitching of the control switch 4064 may be controlled automatically bythe battery management system 404. For instance, the battery managementsystem 404 may control and switch the control switch 4064 to the closedstate if the amount of time elapsed since the power to the object isturned off exceeds a threshold length of time as previously describedherein, and switch the control switch 4064 to open state if certaincriteria is met. Alternatively, the switching of the control switch 4064may be controlled manually by the user. For instances, before storingthe battery assembly 402, the user may manually switch the controlswitch to closed state, such that the battery assembly 402 mayself-discharge. Then, the user may manually switch the control switch4064 to the open state to terminate the discharge.

As previously described herein, the battery assembly 402 may be used topower at least a part of an object. The object may be a movable objector a stationary object. In some embodiments, the movable object may bean unmanned aerial vehicle (UAV), and the battery assembly 402 may beused to power at least the propulsion system of the UAV, for example, arotor of the UAV. In some instances, the battery assembly 402 maycomprise a plurality of battery cells which are electrically connectedin series or in parallel. Alternatively, the battery assembly 402 maycomprise only a single battery cell. In some embodiments, the batteryassembly 402, battery management system 404 and the self-dischargingcircuit 406 may be provided within a housing, for example, a housing ofUAV.

The battery management system 404 may comprise a timer. In someembodiments, the timer may be triggered to start timing upon receiving asignal (e.g., from the battery management system 404, or from the objectwhich the battery assembly powers) when the power to the object isturned off, and may detect an amount of time that elapses since thepower to the object is turned off. If an amount of time elapsed exceedsa threshold length of time, the battery management system 404 may causeto start discharging the battery assembly 402 via the self-dischargingcircuit 406. The threshold length of time may be set based on userinput, or may be predetermined, as disclosed herein above.

In some embodiments, the battery management system 404 may detect if avoltage of the battery assembly during the self-discharge of the batteryassembly 402 reaches a threshold voltage value, and cause the battery toterminate the self-discharge via the self-discharging circuit 406 if thevoltage of the battery assembly 402 reaches the threshold voltage value.The threshold voltage value may be an appropriate voltage value underwhich the battery assembly 402 may be safely stored in a long term. Insome instances, the threshold voltage value may be about 50% of thenominal voltage of the battery assembly 402. For example, the thresholdvoltage value may be about 38 V. Alternatively, the threshold voltagevalue may be about 50% of the nominal voltage of each cell of thebattery assembly 402. For example, the threshold voltage value may beabout 3.8 V. The battery management system 404 may optionally cause thebattery assembly 402 enter a hibernation mode, as disclosed hereinabove.

In some embodiments, the timer may be triggered to start timing uponreceiving a signal indicating the battery assembly is not in use. Whenthe battery assembly is not in use for a threshold length of time (e.g.,a value of the timer exceeds the threshold length of time), the batterymanagement system 404 may cause the battery assembly to startdischarging via the self-discharging circuit 406. In some embodiments,the battery management system 404 may detect if the battery assembly 402is in use again during the self-discharge, and may cause the batteryassembly to terminate the self-discharge via the self-dischargingcircuit 406 if the battery assembly 402 is in use again. In someinstances, a determination on if the battery assembly is in use againmay be made by detecting when a current flows from the battery assembly402 to other components of the object, as disclosed herein above.Simultaneously, the battery management system 404 may also detect if avoltage of the battery assembly during the self-discharge of the batteryassembly 402 reaches a threshold voltage value, and cause the battery toterminate the self-discharge via the self-discharging circuit 406 if thevoltage of the battery assembly 402 reaches the threshold voltage value.

In some embodiments, the timer of the battery management system 404 maybe triggered by external signals, such as a signal indicating that thepower to the object is turned off, or a signal indicating that thebattery assembly is not in use. The signal for triggering the timer maybe communicated from the object, such as a UAV. This signalcommunication may be a functionality of the object, and may beparticularly important for a UAV.

In some embodiments, the processes of the battery management system 404may be performed by one or more processors individually or collectively.The processor may be provided as part of control circuit of the UAV, or,it can be provided as an independent circuit, module or chip. Theprocessor may be implemented by Central Processing Unit (CPU),Application Specific Integrated Circuit (ASIC), or Field ProgrammableGate Array (FPGA). Any description herein of a processor may apply toone or more processors, which may individually or collectively performany functions described for the processor. The processor may be capableof executing one or more steps in accordance with non-transitorycomputer readable media comprising code, logic, or instructions forperforming one or more steps. Memory storage units may be provided whichmay comprise the non-transitory computer readable media.

One or more processors may be provided onboard the object, for example aUAV. One or more processors may be provided off-board the object, forexample a UAV. In some instances, an external device may be providedwith the processor(s) that may process the audio signals. In someinstances the external device may be a controller of the UAV. Thecontroller of the UAV may control flight of the UAV, a sensor of theUAV, a carrier of the UAV, a payload of the UAV, or any other componentof the UAV. In some other instances, the external device may be adisplay device and/or speaker. The external device may be a monitor,speaker, desktop computer, laptop computer, tablet, cell phone,smartphone, personal digital assistant, or any other device. In someinstances, one or more processors may be distributed over the UAV andone or more external devices, or over a plurality of external devices.The processors that may be distributed over the UAV and/or devices mayindividually or collectively generate the processed signals.

In some embodiments, the object may carry a plurality of batteryassemblies onboard. For example, a UAV may carry a plurality of batteryassemblies, each having one or more battery cells, to power differentcomponents (e.g., sensors, flight controller, propulsion system, gimbal,camera, etc.) onboard the UAV. The plurality of battery assemblies mayhave different types, different capacities, different output voltages,different lifetime, etc. In this case, the battery management system 404may collectively control the self-discharge of the plurality of batteryassemblies.

In some embodiments, the battery management system 404 may identify oneor more battery assemblies meeting certain criteria from the pluralityof battery assemblies. For example, the certain criteria may be if anamount of time elapsed since the power to the object is turned offexceeds a threshold length of time, and/or if the battery assembly isnot in use for a threshold length of time. If the certain criteria ismet for one or more battery assemblies, the battery management system404 may control the operation of the self-discharging circuit, which maybe individually provided for each battery assembly, in order to initiateand/or terminate the controlled self-discharging.

In some embodiment, the timer in the battery management system 404 maydetect an amount of time that elapses since the power to the object isturned off for each battery assembly. If an amount of time elapsedexceeds a threshold length of time for one or more battery assembliesamong the plurality, the battery management system 404 may cause the oneor more battery assemblies to start discharging via the respectiveself-discharging circuit. In some embodiments, the timer may betriggered to start timing upon receiving a signal indicating one or morebattery assemblies among the plurality are not in use. When the one ormore battery assemblies are not in use for a threshold length of time,the battery management system 404 may cause the one or more batteryassemblies to start discharging via the respective self-dischargingcircuit.

In some embodiments, the battery management system 404 may detect if avoltage of one or more battery assemblies during the self-dischargereaches a threshold voltage value, and cause the one or more batteryassemblies to terminate the self-discharge if the voltage of the one ormore battery assemblies reaches the threshold voltage value. In someembodiments, the battery management system 404 may detect if the one ormore battery assemblies are in use again during the self-discharge, andmay cause the one or more battery assemblies to terminate theself-discharge via the respective self-discharging circuit if the one ormore battery assemblies are in use again.

FIG. 5 is a flow chart illustrating a method 500 of assembling anapparatus for managing discharge of a battery assembly in accordancewith an embodiment of the invention.

In step 502, a battery assembly comprising one or more battery cells isprovided. The battery assembly may be used to provide electric power toat least a part of the object. In some embodiments, the object may be aUAV. The battery assembly may be used to power a propulsion system ofthe UAV, for example, a rotor of the UAV. Alternatively, the batteryassembly may be used to power electrical components on board the UAV,including but not limited to, control system (e.g., flight controller),sensors, communication system, payload, etc.

In step 504, a self-discharging circuit is electrically coupled to thebattery assembly. In some embodiments, the self-discharging circuit maycomprise a self-discharging resistor and a control switch connected inparallel with positive and negative terminals of the battery assembly.The self-discharging resistor and the control switch may be connected inseries. The self-discharging circuit can be electrically coupled to thebattery assembly, e.g., using wires, cables, pins, contacts, and thelike.

In step 506, a battery management system is electrically coupled to theself-discharging circuit. Optionally, the battery management system canbe electrically coupled to the battery assembly. In some embodiments,the battery management system may control an operation of the controlswitch, as previously described herein. In some instances, thecontrolled self-discharge of the battery assembly may be initiated whenthe control switch is switched to a closed state (e.g., the switch is“on”), and may be terminated when the control switch is switched to anopen state (e.g., the switch is “off”).

The battery management system may comprise a timer. In some embodiments,the timer may be triggered to start timing upon receiving a signal thatthe power to the object has been turned off and may detect an amount oftime elapsed since the power to the object is turned off. If an amountof time elapsed exceeds a threshold length of time, the batterymanagement system may cause the battery assembly to start dischargingthe battery assembly via the self-discharging circuit. The thresholdlength of time may be set based on user input, or may be predetermined,as disclosed herein above. In some embodiments, the battery managementsystem may detect if a voltage of the battery assembly during theself-discharge of the battery assembly reaches a threshold voltagevalue, and cause the battery to terminate the self-discharge via theself-discharging circuit if the voltage of the battery assembly reachesthe threshold voltage value. The threshold voltage value may be anappropriate voltage value under which the battery assembly may be safelystored in a long term. The battery management system may optionallycause the battery assembly enter a hibernation mode, as disclosed hereinabove.

In other embodiments, the timer may be triggered to start timing uponreceiving a signal indicating the battery assembly is not in use for athreshold length of time. In this case, the battery management systemmay cause the battery assembly to start discharging the battery assemblyvia the self-discharging circuit. In some embodiments, the batterymanagement system may detect if the battery assembly is in use againduring the self-discharge, and may cause the battery assembly toterminate the self-discharge via the self-discharging circuit if thebattery assembly is in use again. In some instances, a determination onif the battery assembly is in use again may be made by detecting when acurrent flows from the battery assembly, as disclosed herein above.Simultaneously, the battery management system may also detect if avoltage of the battery assembly during the self-discharge of the batteryassembly reaches a threshold voltage value, and may cause the battery toterminate the self-discharge via the self-discharging circuit if thevoltage of the battery assembly reaches the threshold voltage value.

In the embodiments described herein, the battery assembly may bedischarged under certain criteria, for example, the power to an objectis turned off for a threshold length of time, or the battery assembly isnot in use for a threshold length of time. In a multi-battery system,the discharged electric (e.g., electrical power) may be collected tocharge other battery assemblies onboard the object by the batterymanagement system. This may be important for a UAV, for example, thecollected power may extend the work time of the UAV. Alternatively orcollectively, the discharged electric may be collected to charge arechargeable battery onboard the object. This rechargeable battery mayhave a large capacity to store the discharged electric from otherbattery assemblies, such that the battery assemblies may be storedsafely, for example, with a storage voltage less than 50% a nominalvoltage of the battery assembly.

In some embodiments, a UAV may carry a plurality of battery assembliesonboard to power different components, including but not limited to,control systems (e.g., flight controller), sensors, communicationsystem, payload (e.g., camera, gimbal), etc. The plurality of batteryassemblies may have different capacities, different lifetime, etc., suchthat one battery assembly may be exhausted while another batteryassembly may substantially full. If the UAV is to be stored, the batteryassembly having substantially full power may be self-discharged underthe control of a battery management system, as described hereinabove.The discharged electric may be collected by the battery managementsystem and be used to charge another substantially exhausted batteryassembly. Alternatively, any excess electric from the battery assemblyhaving substantially full power after the charging may be collected bythe battery management system and be used to charge a rechargeablebattery onboard the UAV. Alternatively, the discharged electric from thebattery assembly having substantially full power may be directlycollected by the battery management system and be used to charge arechargeable battery onboard the UAV.

FIG. 6 is a diagram 600 illustrating the voltage change of a batteryassembly in accordance with embodiments of the present invention. Thelateral axis of the diagram 600 is a time axis, and the vertical axis isan axis illustrating the voltage of the battery assembly which is to bestored in a long-term.

In some embodiments, the battery assembly used to power at least part ofan object, such as a UAV, may be detected as not in use at a time t=0.At this time t=0, the voltage of the battery assembly may be V1.Alternatively, the power to the object may be detected as being turnedoff at a time t=0. At this time t=0, the voltage of the battery assemblymay be V1.

In some embodiments, an amount of time elapsed since the batteryassembly is detected as not in use may be detect, for example by atimer. Alternatively, an amount of time elapsed since the power to theobject is turned off may be detected, for example by a timer. Thecontrolled self-discharging of the battery assembly may be initiatedwhen the amount of time detected by the timer exceeds a threshold lengthof time t_(t).

The voltage of the battery assembly may drop during the controlledself-discharge until certain criteria is met. In some embodiments, thecontrolled self-discharge may be terminated when the voltage of thebattery assembly reaches a threshold voltage value V_(t) at a timet=t_(t). The threshold voltage value V_(t) may be a voltage value whichis safe for long-term storage of the battery assembly, as discussedherein above.

In some instances, the controlled self-discharge may be terminated ifthe power to the object, such as a UAV, is turned on or the batteryassembly is in use again during the controlled self-discharge, asdiscussed herein above. In these cases, the voltage of the batteryassembly may not drop to the threshold voltage value V_(t).

The systems, devices, and methods described herein can be applied to awide variety of objects, including movable objects and stationaryobjects. As previously mentioned, any description herein of an aerialvehicle, such as a UAV, may apply to and be used for any movable object.Any description herein of an aerial vehicle may apply specifically toUAVs. A movable object of the present invention can be configured tomove within any suitable environment, such as in air (e.g., a fixed-wingaircraft, a rotary-wing aircraft, or an aircraft having neither fixedwings nor rotary wings), in water (e.g., a ship or a submarine), onground (e.g., a motor vehicle, such as a car, truck, bus, van,motorcycle, bicycle; a movable structure or frame such as a stick,fishing pole; or a train), under the ground (e.g., a subway), in space(e.g., a spaceplane, a satellite, or a probe), or any combination ofthese environments. The movable object can be a vehicle, such as avehicle described elsewhere herein. In some embodiments, the movableobject can be carried by a living subject, or take off from a livingsubject, such as a human or an animal. Suitable animals can includeavines, canines, felines, equines, bovines, ovines, porcines, delphines,rodents, or insects.

The movable object may be capable of moving freely within theenvironment with respect to six degrees of freedom (e.g., three degreesof freedom in translation and three degrees of freedom in rotation).Alternatively, the movement of the movable object can be constrainedwith respect to one or more degrees of freedom, such as by apredetermined path, track, or orientation. The movement can be actuatedby any suitable actuation mechanism, such as an engine or a motor. Theactuation mechanism of the movable object can be powered by any suitableenergy source, such as electrical energy, magnetic energy, solar energy,wind energy, gravitational energy, chemical energy, nuclear energy, orany suitable combination thereof. The movable object may beself-propelled via a propulsion system, as described elsewhere herein.The propulsion system may optionally run on an energy source, such aselectrical energy, magnetic energy, solar energy, wind energy,gravitational energy, chemical energy, nuclear energy, or any suitablecombination thereof. Alternatively, the movable object may be carried bya living being.

In some instances, the movable object can be an aerial vehicle. Forexample, aerial vehicles may be fixed-wing aircraft (e.g., airplane,gliders), rotary-wing aircraft (e.g., helicopters, rotorcraft), aircrafthaving both fixed wings and rotary wings, or aircraft having neither(e.g., blimps, hot air balloons). An aerial vehicle can beself-propelled, such as self-propelled through the air. A self-propelledaerial vehicle can utilize a propulsion system, such as a propulsionsystem including one or more engines, motors, wheels, axles, magnets,rotors, propellers, blades, nozzles, or any suitable combinationthereof. In some instances, the propulsion system can be used to enablethe movable object to take off from a surface, land on a surface,maintain its current position and/or orientation (e.g., hover), changeorientation, and/or change position.

The movable object can be controlled remotely by a user or controlledlocally by an occupant within or on the movable object. The movableobject may be controlled remotely via an occupant within a separatevehicle. In some embodiments, the movable object is an unmanned movableobject, such as a UAV. An unmanned movable object, such as a UAV, maynot have an occupant onboard the movable object. The movable object canbe controlled by a human or an autonomous control system (e.g., acomputer control system), or any suitable combination thereof. Themovable object can be an autonomous or semi-autonomous robot, such as arobot configured with an artificial intelligence.

The movable object can have any suitable size and/or dimensions. In someembodiments, the movable object may be of a size and/or dimensions tohave a human occupant within or on the vehicle. Alternatively, themovable object may be of size and/or dimensions smaller than thatcapable of having a human occupant within or on the vehicle. The movableobject may be of a size and/or dimensions suitable for being lifted orcarried by a human. Alternatively, the movable object may be larger thana size and/or dimensions suitable for being lifted or carried by ahuman. In some instances, the movable object may have a maximumdimension (e.g., length, width, height, diameter, diagonal) of less thanor equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Themaximum dimension may be greater than or equal to about: 2 cm, 5 cm, 10cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distance betweenshafts of opposite rotors of the movable object may be less than orequal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.Alternatively, the distance between shafts of opposite rotors may begreater than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m,or 10 m.

In some embodiments, the movable object may have a volume of less than100 cm×100 cm×100 cm, less than 50 cm×50 cm×30 cm, or less than 5 cm×5cm×3 cm. The total volume of the movable object may be less than orequal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40 cm³, 50cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³, 300 cm³,500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³, 1 m³, or10 m³. Conversely, the total volume of the movable object may be greaterthan or equal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40cm³, 50 cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³,300 cm³, 500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³,1 m³, or 10 m³.

In some embodiments, the movable object may have a footprint (which mayrefer to the lateral cross-sectional area encompassed by the movableobject) less than or equal to about: 32,000 cm², 20,000 cm², 10,000 cm²,1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm². Conversely, thefootprint may be greater than or equal to about: 32,000 cm², 20,000 cm²,10,000 cm², 1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm².

In some instances, the movable object may weigh no more than 1000 kg.The weight of the movable object may be less than or equal to about:1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg,8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg,or 0.01 kg. Conversely, the weight may be greater than or equal toabout: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1kg, 0.05 kg, or 0.01 kg.

In some embodiments, a movable object may be small relative to a loadcarried by the movable object. The load may include a payload and/or acarrier, as described in further detail elsewhere herein. In someexamples, a ratio of a movable object weight to a load weight may begreater than, less than, or equal to about 1:1. In some instances, aratio of a movable object weight to a load weight may be greater than,less than, or equal to about 1:1. Optionally, a ratio of a carrierweight to a load weight may be greater than, less than, or equal toabout 1:1. When desired, the ratio of an movable object weight to a loadweight may be less than or equal to: 1:2, 1:3, 1:4, 1:5, 1:10, or evenless. Conversely, the ratio of a movable object weight to a load weightcan also be greater than or equal to: 2:1, 3:1, 4:1, 5:1, 10:1, or evengreater.

In some embodiments, the movable object may have low energy consumption.For example, the movable object may use less than about: 5 W/h, 4 W/h, 3W/h, 2 W/h, 1 W/h, or less. In some instances, a carrier of the movableobject may have low energy consumption. For example, the carrier may useless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less. Optionally,a payload of the movable object may have low energy consumption, such asless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less.

FIG. 7 illustrates an unmanned aerial vehicle (UAV) 700, in accordancewith embodiments of the present invention. The UAV may be an example ofa movable object as described herein, to which the method and apparatusof discharging a battery assembly may be applied. The UAV 700 caninclude a propulsion system having four rotors 702, 704, 706, and 708.Any number of rotors may be provided (e.g., one, two, three, four, five,six, or more). The rotors, rotor assemblies, or other propulsion systemsof the unmanned aerial vehicle may enable the unmanned aerial vehicle tohover/maintain position, change orientation, and/or change location. Thedistance between shafts of opposite rotors can be any suitable length710. For example, the length 710 can be less than or equal to 2 m, orless than or equal to 5 m. In some embodiments, the length 710 can bewithin a range from 40 cm to 1 m, from 10 cm to 2 m, or from 5 cm to 5m. Any description herein of a UAV may apply to a movable object, suchas a movable object of a different type, and vice versa. The UAV may usean assisted takeoff system or method as described herein.

In some embodiments, the movable object can be configured to carry aload. The load can include one or more of passengers, cargo, equipment,instruments, and the like. The load can be provided within a housing.The housing may be separate from a housing of the movable object, or bepart of a housing for a movable object. Alternatively, the load can beprovided with a housing while the movable object does not have ahousing. Alternatively, portions of the load or the entire load can beprovided without a housing. The load can be rigidly fixed relative tothe movable object. Optionally, the load can be movable relative to themovable object (e.g., translatable or rotatable relative to the movableobject). The load can include a payload and/or a carrier, as describedelsewhere herein.

In some embodiments, the movement of the movable object, carrier, andpayload relative to a fixed reference frame (e.g., the surroundingenvironment) and/or to each other, can be controlled by a terminal. Theterminal can be a remote control device at a location distant from themovable object, carrier, and/or payload. The terminal can be disposed onor affixed to a support platform. Alternatively, the terminal can be ahandheld or wearable device. For example, the terminal can include asmartphone, tablet, laptop, computer, glasses, gloves, helmet,microphone, or suitable combinations thereof. The terminal can include auser interface, such as a keyboard, mouse, joystick, touchscreen, ordisplay. Any suitable user input can be used to interact with theterminal, such as manually entered commands, voice control, gesturecontrol, or position control (e.g., via a movement, location or tilt ofthe terminal).

The terminal can be used to control any suitable state of the movableobject, carrier, and/or payload. For example, the terminal can be usedto control the position and/or orientation of the movable object,carrier, and/or payload relative to a fixed reference from and/or toeach other. In some embodiments, the terminal can be used to controlindividual elements of the movable object, carrier, and/or payload, suchas the actuation assembly of the carrier, a sensor of the payload, or anemitter of the payload. The terminal can include a wirelesscommunication device adapted to communicate with one or more of themovable object, carrier, or payload.

The terminal can include a suitable display unit for viewing informationof the movable object, carrier, and/or payload. For example, theterminal can be configured to display information of the movable object,carrier, and/or payload with respect to position, translationalvelocity, translational acceleration, orientation, angular velocity,angular acceleration, or any suitable combinations thereof. In someembodiments, the terminal can display information provided by thepayload, such as data provided by a functional payload (e.g., imagesrecorded by a camera or other image capturing device).

Optionally, the same terminal may both control the movable object,carrier, and/or payload, or a state of the movable object, carrierand/or payload, as well as receive and/or display information from themovable object, carrier and/or payload. For example, a terminal maycontrol the positioning of the payload relative to an environment, whiledisplaying image data captured by the payload, or information about theposition of the payload. Alternatively, different terminals may be usedfor different functions. For example, a first terminal may controlmovement or a state of the movable object, carrier, and/or payload whilea second terminal may receive and/or display information from themovable object, carrier, and/or payload. For example, a first terminalmay be used to control the positioning of the payload relative to anenvironment while a second terminal displays image data captured by thepayload. Various communication modes may be utilized between a movableobject and an integrated terminal that both controls the movable objectand receives data, or between the movable object and multiple terminalsthat both control the movable object and receives data. For example, atleast two different communication modes may be formed between themovable object and the terminal that both controls the movable objectand receives data from the movable object.

FIG. 8 illustrates a movable object 800 including a carrier 802 and apayload 804, in accordance with embodiments of the present invention.Although the movable object 800 is depicted as an aircraft, thisdepiction is not intended to be limiting, and any suitable type ofmovable object can be used, as previously described herein. One of skillin the art would appreciate that any of the embodiments described hereinin the context of aircraft systems can be applied to any suitablemovable object (e.g., an UAV). In some instances, the payload 804 may beprovided on the movable object 800 without requiring the carrier 802.The movable object 800 may include propulsion mechanisms 806, a sensingsystem 808, and a communication system 810.

The propulsion mechanisms 806 can include one or more of rotors,propellers, blades, engines, motors, wheels, axles, magnets, or nozzles,as previously described. The movable object may have one or more, two ormore, three or more, or four or more propulsion mechanisms. Thepropulsion mechanisms may all be of the same type. Alternatively, one ormore propulsion mechanisms can be different types of propulsionmechanisms. The propulsion mechanisms 806 can be mounted on the movableobject 800 using any suitable means, such as a support element (e.g., adrive shaft) as described elsewhere herein. The propulsion mechanisms806 can be mounted on any suitable portion of the movable object 800,such on the top, bottom, front, back, sides, or suitable combinationsthereof.

In some embodiments, the propulsion mechanisms 806 can enable themovable object 800 to take off vertically from a surface or landvertically on a surface without requiring any horizontal movement of themovable object 800 (e.g., without traveling down a runway). Optionally,the propulsion mechanisms 806 can be operable to permit the movableobject 800 to hover in the air at a specified position and/ororientation. One or more of the propulsion mechanisms 806 may becontrolled independently of the other propulsion mechanisms.Alternatively, the propulsion mechanisms 806 can be configured to becontrolled simultaneously. For example, the movable object 800 can havemultiple horizontally oriented rotors that can provide lift and/orthrust to the movable object. The multiple horizontally oriented rotorscan be actuated to provide vertical takeoff, vertical landing, andhovering capabilities to the movable object 800. In some embodiments,one or more of the horizontally oriented rotors may spin in a clockwisedirection, while one or more of the horizontally rotors may spin in acounterclockwise direction. For example, the number of clockwise rotorsmay be equal to the number of counterclockwise rotors. The rotation rateof each of the horizontally oriented rotors can be varied independentlyin order to control the lift and/or thrust produced by each rotor, andthereby adjust the spatial disposition, velocity, and/or acceleration ofthe movable object 800 (e.g., with respect to up to three degrees oftranslation and up to three degrees of rotation).

The sensing system 808 can include one or more sensors that may sensethe spatial disposition, velocity, and/or acceleration of the movableobject 800 (e.g., with respect to up to three degrees of translation andup to three degrees of rotation). The one or more sensors can includeglobal positioning system (GPS) sensors, motion sensors, inertialsensors, proximity sensors, or image sensors. The sensing data providedby the sensing system 808 can be used to control the spatialdisposition, velocity, and/or orientation of the movable object 800(e.g., using a suitable processing unit and/or control module, asdescribed below). Alternatively, the sensing system 808 can be used toprovide data regarding the environment surrounding the movable object,such as weather conditions, proximity to potential obstacles, locationof geographical features, location of manmade structures, and the like.

The communication system 810 enables communication with terminal 812having a communication system 814 via wireless signals 816. Thecommunication systems 810, 814 may include any number of transmitters,receivers, and/or transceivers suitable for wireless communication. Thecommunication may be one-way communication, such that data can betransmitted in only one direction. For example, one-way communicationmay involve only the movable object 800 transmitting data to theterminal 812, or vice-versa. The data may be transmitted from one ormore transmitters of the communication system 810 to one or morereceivers of the communication system 812, or vice-versa. Alternatively,the communication may be two-way communication, such that data can betransmitted in both directions between the movable object 800 and theterminal 812. The two-way communication can involve transmitting datafrom one or more transmitters of the communication system 810 to one ormore receivers of the communication system 814, and vice-versa.

In some embodiments, the terminal 812 can provide control data to one ormore of the movable object 800, carrier 802, and payload 804 and receiveinformation from one or more of the movable object 800, carrier 802, andpayload 804 (e.g., position and/or motion information of the movableobject, carrier or payload; data sensed by the payload such as imagedata captured by a payload camera). In some instances, control data fromthe terminal may include instructions for relative positions, movements,actuations, or controls of the movable object, carrier and/or payload.For example, the control data may result in a modification of thelocation and/or orientation of the movable object (e.g., via control ofthe propulsion mechanisms 806), or a movement of the payload withrespect to the movable object (e.g., via control of the carrier 802).The control data from the terminal may result in control of the payload,such as control of the operation of a camera or other image capturingdevice (e.g., taking still or moving pictures, zooming in or out,turning on or off, switching imaging modes, change image resolution,changing focus, changing depth of field, changing exposure time,changing viewing angle or field of view). In some instances, thecommunications from the movable object, carrier and/or payload mayinclude information from one or more sensors (e.g., of the sensingsystem 808 or of the payload 804). The communications may include sensedinformation from one or more different types of sensors (e.g., GPSsensors, motion sensors, inertial sensor, proximity sensors, or imagesensors). Such information may pertain to the position (e.g., location,orientation), movement, or acceleration of the movable object, carrierand/or payload. Such information from a payload may include datacaptured by the payload or a sensed state of the payload. The controldata provided transmitted by the terminal 812 can be configured tocontrol a state of one or more of the movable object 800, carrier 802,or payload 804. Alternatively or in combination, the carrier 802 andpayload 804 can also each include a communication module configured tocommunicate with terminal 812, such that the terminal can communicatewith and control each of the movable object 800, carrier 802, andpayload 804 independently.

In some embodiments, the movable object 800 can be configured tocommunicate with another remote device in addition to the terminal 812,or instead of the terminal 812. The terminal 812 may also be configuredto communicate with another remote device as well as the movable object800. For example, the movable object 800 and/or terminal 812 maycommunicate with another movable object, or a carrier or payload ofanother movable object. When desired, the remote device may be a secondterminal or other computing device (e.g., computer, laptop, tablet,smartphone, or other mobile device). The remote device can be configuredto transmit data to the movable object 800, receive data from themovable object 800, transmit data to the terminal 812, and/or receivedata from the terminal 812. Optionally, the remote device can beconnected to the Internet or other telecommunications network, such thatdata received from the movable object 800 and/or terminal 812 can beuploaded to a website or server.

FIG. 9 is a schematic illustration by way of block diagram of a system900 for controlling a movable object, in accordance with embodiments ofthe present invention. The system 900 can be used in combination withany suitable embodiment of the systems, devices, and methods disclosedherein. The system 900 can include a sensing module 902, processing unit904, non-transitory computer readable medium 906, control module 908,and communication module 910.

The sensing module 902 can utilize different types of sensors thatcollect information relating to the movable objects in different ways.Different types of sensors may sense different types of signals orsignals from different sources. For example, the sensors can includeinertial sensors, GPS sensors, proximity sensors (e.g., lidar), orvision/image sensors (e.g., a camera). The sensing module 902 can beoperatively coupled to a processing unit 904 having a plurality ofprocessors. In some embodiments, the sensing module can be operativelycoupled to a transmission module 912 (e.g., a Wi-Fi image transmissionmodule) configured to directly transmit sensing data to a suitableexternal device or system. For example, the transmission module 912 canbe used to transmit images captured by a camera of the sensing module902 to a remote terminal.

The processing unit 904 can have one or more processors, such as aprogrammable processor (e.g., a central processing unit (CPU)). Theprocessing unit 904 can be operatively coupled to a non-transitorycomputer readable medium 906. The non-transitory computer readablemedium 906 can store logic, code, and/or program instructions executableby the processing unit 904 for performing one or more steps. Thenon-transitory computer readable medium can include one or more memoryunits (e.g., removable media or external storage such as an SD card orrandom access memory (RAM)). In some embodiments, data from the sensingmodule 902 can be directly conveyed to and stored within the memoryunits of the non-transitory computer readable medium 906. The memoryunits of the non-transitory computer readable medium 906 can storelogic, code and/or program instructions executable by the processingunit 904 to perform any suitable embodiment of the methods describedherein. For example, the processing unit 904 can be configured toexecute instructions causing one or more processors of the processingunit 904 to analyze sensing data produced by the sensing module. Thememory units can store sensing data from the sensing module to beprocessed by the processing unit 904. In some embodiments, the memoryunits of the non-transitory computer readable medium 906 can be used tostore the processing results produced by the processing unit 904.

In some embodiments, the processing unit 904 can be operatively coupledto a control module 908 configured to control a state of the movableobject. For example, the control module 908 can be configured to controlthe propulsion mechanisms of the movable object to adjust the spatialdisposition, velocity, and/or acceleration of the movable object withrespect to six degrees of freedom. Alternatively or in combination, thecontrol module 908 can control one or more of a state of a carrier,payload, or sensing module.

The processing unit 904 can be operatively coupled to a communicationmodule 910 configured to transmit and/or receive data from one or moreexternal devices (e.g., a terminal, display device, or other remotecontroller). Any suitable means of communication can be used, such aswired communication or wireless communication. For example, thecommunication module 910 can utilize one or more of local area networks(LAN), wide area networks (WAN), infrared, radio, WiFi, point-to-point(P2P) networks, telecommunication networks, cloud communication, and thelike. Optionally, relay stations, such as towers, satellites, or mobilestations, can be used. Wireless communications can be proximitydependent or proximity independent. In some embodiments, line-of-sightmay or may not be required for communications. The communication module910 can transmit and/or receive one or more of sensing data from thesensing module 902, processing results produced by the processing unit904, predetermined control data, user commands from a terminal or remotecontroller, and the like.

The components of the system 900 can be arranged in any suitableconfiguration. For example, one or more of the components of the system900 can be located on the movable object, carrier, payload, terminal,sensing system, or an additional external device in communication withone or more of the above. Additionally, although FIG. 9 depicts a singleprocessing unit 904 and a single non-transitory computer readable medium906, one of skill in the art would appreciate that this is not intendedto be limiting, and that the system 900 can include a plurality ofprocessing units and/or non-transitory computer readable media. In someembodiments, one or more of the plurality of processing units and/ornon-transitory computer readable media can be situated at differentlocations, such as on the movable object, carrier, payload, terminal,sensing module, additional external device in communication with one ormore of the above, or suitable combinations thereof, such that anysuitable aspect of the processing and/or memory functions performed bythe system 900 can occur at one or more of the aforementioned locations.

While preferred embodiments of the present invention have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the invention. It should be understoodthat various alternatives to the embodiments of the invention describedherein may be employed in practicing the invention. It is intended thatthe following claims define the scope of the invention and that methodsand structures within the scope of these claims and their equivalents becovered thereby.

What is claimed is:
 1. An apparatus for discharging a battery assemblyused to power at least part of an object, said apparatus comprising: atimer configured to: (1) receive a signal transmitted from the objectand configured to indicate that power to the object is turned off forstorage of the object, and initiate timing in response thereto and (2)detect an amount of time elapsed since the power to the object is turnedoff; one or more processors individually or collectively configured to:(1) receive a signal from the timer indicative of the amount of timeelapsed and (2) generate a signal that initiates a controlledself-discharge of the battery assembly when the amount of time elapsedexceeds a threshold length of time; and a self-discharging circuitelectrically coupled to the battery assembly and configured to, inresponse to receiving the signal that initiates the controlledself-discharge of the battery assembly, linearly decrease a voltage ofthe battery assembly to a preset voltage value, wherein theself-discharging circuit comprises a self-discharging resistor and acontrol switch, together both connected in parallel with positive andnegative terminals of the battery assembly, and the controlledself-discharge is initiated when the control switch is switched to aclosed state and is terminated when the control switch is switched to anopen state and the controlled self-discharge is carried out by theself-discharging resistor controlled by the control switch.
 2. Theapparatus of claim 1, wherein the one or more processors individually orcollectively are further configured to receive a signal indicative ofthe voltage of the battery assembly during the controlled self-dischargeof the battery assembly, and generate a signal that terminates thecontrolled self-discharge of the battery assembly when the voltagereaches a threshold voltage value.
 3. The apparatus of claim 2, whereinthe threshold voltage is configured to enable safe long-term storage ofthe battery assembly.
 4. The apparatus of claim 2, wherein the one ormore processors individually or collectively are further configured togenerate a signal that enters the battery assembly into a hibernationmode subsequent to terminating the controlled self-discharge of thebattery assembly.
 5. The apparatus of claim 1, wherein the one or moreprocessors individually or collectively are further configured toreceive a signal indicative of when the power to the object is turnedon, and generate a signal that terminates the controlled self-dischargeof the battery assembly when the power to the object is turned on. 6.The apparatus of claim 1, wherein the one or more processorsindividually or collectively are further configured to receive a signalindicative of the battery assembly powering the at least the part of theobject, and generate a signal that terminates the controlledself-discharge of the battery assembly if the battery assembly powersthe at least the part of the object.
 7. An unmanned aerial vehicle,comprising a battery assembly and the apparatus of claim 1 operablycoupled to the battery assembly.
 8. The apparatus of claim 1, whereinthe self-discharging circuit is a separate circuit for the controlledself-discharge, and the control switch is configured to be capable ofbeing set to the closed state manually by a user.
 9. An apparatus fordischarging a battery assembly, said apparatus comprising: a timerconfigured to detect an amount of time that the battery assembly is notin use since a signal is received from an object and configured toindicate that power to the object is turned off for storage of theobject; one or more processors individually or collectively configuredto: receive a signal from the timer indicative of the amount of time,and generate a signal that initiates a controlled self-discharge of thebattery assembly when the amount of time exceeds a threshold length oftime; and a self-discharging circuit electrically coupled to the batteryassembly and configured to, in response to receiving the signal thatinitiates the controlled self-discharge of the battery assembly,linearly decrease a voltage of the battery assembly to a preset voltagevalue, wherein the self-discharging circuit comprises a self-dischargingresistor and a control switch, together both connected in parallel withpositive and negative terminals of the battery assembly, and thecontrolled self-discharge is initiated when the control switch isswitched to a closed state and is terminated when the control switch isswitched to an open state and the controlled self-discharge is carriedout by the self-discharging resistor controlled by the control switch.10. The apparatus of claim 9, wherein the one or more processorsindividually or collectively are further configured to generate a signalthat terminates the controlled self-discharge of the battery assemblywhen (1) the battery assembly is in use, or (2) the voltage of thebattery assembly reaches a threshold voltage value.
 11. The apparatus ofclaim 10, wherein the threshold voltage is configured to enable safelong-term storage of the battery assembly.
 12. The apparatus of claim10, wherein the one or more processors individually or collectively arefurther configured to generate a signal that enters the battery assemblyinto a hibernation mode subsequent to terminating the controlledself-discharge of the battery assembly when the voltage of the batteryassembly reaches the threshold voltage value.
 13. The apparatus of claim9, wherein the battery assembly is used to power a propulsion system ofthe UAV.
 14. An unmanned aerial vehicle, comprising a battery assemblyand the apparatus of claim
 9. 15. A method of discharging a batteryassembly, said method comprising: detecting, with aid of a timer, whenthe battery assembly is not in use for a threshold length of time sincea signal is received from an object and configured to indicate thatpower to the object is turned off for storage of the object; initiating,with one or more processors, a controlled self-discharge of the batteryassembly when the battery assembly is not in use for the thresholdlength of time; and in response to receiving a signal that initiates thecontrolled self-discharge of the battery assembly, linearly decreasing,with a self-discharging circuit, a voltage of the battery assembly to apreset voltage value, wherein the self-discharging circuit comprises aself-discharging resistor and a control switch, together both connectedin parallel with positive and negative terminals of the batteryassembly, and the controlled self-discharge is initiated when thecontrol switch is switched to a closed state and is terminated when thecontrol switch is switched to an open state and the controlledself-discharge is carried out by the self-discharging resistorcontrolled by the control switch.
 16. The method of claim 15, furthercomprising terminating the controlled self-discharge of the batteryassembly when (1) the battery assembly is in use, or (2) the batteryassembly voltage reaches a threshold voltage value.
 17. The method ofclaim 15, wherein the threshold voltage is configured to enable safelong-term storage of the battery assembly.
 18. The method of claim 15,further comprising entering a hibernation mode subsequent to terminatingthe controlled self-discharge of the battery assembly when the batteryassembly voltage reaches the threshold voltage value.